Robot hand, robot, and method for adjusting hand width of robot hand

Abstract

A robot hand includes a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; holding parts that are provided on the movable members and that hold a workpiece; and a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction and that adjusts a distance B between the pair of movable members by means of the relative movement of the pair of movable members in the width direction (A). The pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism.

The invention claimed is: 
     
       1. A robot hand comprising:
 a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; 
 a holding part that is provided on each of the pair of movable members and that holds a workpiece; 
 a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; 
 wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; and 
 wherein the width adjusting mechanism comprises a lock mechanism that includes a knob screw that has a knob controlled by the robot body or the operator and that fixes the pair of movable members with respect to each other. 
 
     
     
       2. The robot hand according to  claim 1 , wherein the lock mechanism fixes relative positions of the pair of movable members in the width direction. 
     
     
       3. The robot hand according to  claim 2 , wherein the width adjusting mechanism includes a rack provided on one of the pair of movable members and a pinion that is provided on the other of the pair of movable members and that meshes with the rack. 
     
     
       4. The robot hand according to  claim 3 , wherein the width adjusting mechanism includes a gear that meshes with the pinion and that is rotated by the robot body or the operator. 
     
     
       5. The robot hand according to  claim 1 , wherein the lock mechanism includes a knob hooking part that is attached to the wrist flange and that is engaged with the knob. 
     
     
       6. The robot hand according to  claim 1 , wherein the width adjusting mechanism includes a movable-member hooking part that is attached to the wrist flange and that meshes with a portion of one of the pair of movable members. 
     
     
       7. A robot comprising:
 a robot body having a wrist flange; and 
 the robot hand according to  claim 1 ; and 
 a control unit that controls the robot body, 
 wherein the control unit causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction. 
 
     
     
       8. The robot according to  claim 7 , wherein the control unit causes the robot body to perform an operation of removing the pair of movable members from the wrist flange and then causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction. 
     
     
       9. A method for adjusting the hand width of the robot hand according to  claim 1 , wherein the robot body relatively moves the pair of movable members in the width direction. 
     
     
       10. The method according to  claim 9 , wherein the robot body removes the pair of movable members from the wrist flange and then relatively moves the pair of movable members in the width direction. 
     
     
       11. A robot hand comprising:
 a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; 
 a holding part that is provided on each of the pair of movable members and that holds a workpiece; 
 a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; 
 wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; and 
 wherein the width adjusting mechanism comprises a movable-member hooking part that is attached to the wrist flange and that meshes with a portion of one of the pair of movable members. 
 
     
     
       12. The robot hand according to  claim 11 , wherein the width adjusting mechanism comprises a lock mechanism that fixes relative positions of the pair of movable members in the width direction. 
     
     
       13. The robot hand according to  claim 12 , wherein the lock mechanism comprises a knob screw that has a knob controlled by the robot body or the operator and that fixes the pair of movable members with respect to each other. 
     
     
       14. The robot hand according to  claim 13 , wherein the lock mechanism comprises a knob hooking part that is attached to the wrist flange and that is engaged with the knob. 
     
     
       15. The robot hand according to  claim 12 , wherein the width adjusting mechanism comprises a rack provided on one of the pair of movable members and a pinion that is provided on the other of the pair of movable members and that meshes with the rack. 
     
     
       16. The robot hand according to  claim 15 , wherein the width adjusting mechanism comprises a gear that meshes with the pinion and that is rotated by the robot body or the operator. 
     
     
       17. A robot comprising:
 a robot body having a wrist flange; 
 a robot hand, the robot hand comprising:
 a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; 
 a holding part that is provided on each of the pair of movable members and that holds a workpiece; 
 a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; and 
 wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; 
 
 a control unit that controls the robot body; and 
 wherein the control unit causes the robot body to perform an operation of removing the pair of movable members from the wrist flange and causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction.